about ORB_segmention 编译问题

问题一： 

/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:233:71: error: no matching function for call to ‘cv::ORB::ORB(int, float, int, int, int, int, cv::ORB::<anonymous enum>, int, int)’
   cv::ORB orb_obj( 1000, 1.2f, 1, 31, 0, 2, ORB::HARRIS_SCORE, 31 ,20 );

/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:233:11: error: cannot declare variable ‘orb_obj’ to be of abstract type ‘cv::ORB’
   cv::ORB orb_obj( 1000, 1.2f, 1, 31, 0, 2, ORB::HARRIS_SCORE, 31 ,20 );

把233错误行，按照高翔的《视觉SLAM》139页第23行修改 为

Ptr<ORB>  orb_obj=ORB::create( 1000, 1.2f, 1, 31, 0, 2, ORB::HARRIS_SCORE, 31 ,20 );

接着出现问题二：

/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:236:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘detect’
   orb_obj.detect(img_1,keypoints1);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:237:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘detect’
   orb_obj.detect(img_2,keypoints2);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:251:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_1,keypoints1,descriptors1);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:252:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_2,keypoints2,descriptors2);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:331:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_1,keypoints_seg_1,descriptors_seg_1);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:332:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_2,keypoints_seg_2,descriptors_seg_2);

解决方案：

   orb_obj->detect(img_1,keypoints1);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:237:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘detect’
   orb_obj.detect(img_2,keypoints2);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:251:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_1,keypoints1,descriptors1);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:252:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_2,keypoints2,descriptors2);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:331:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_1,keypoints_seg_1,descriptors_seg_1);
           ^
/home/zml/dev/catkin_ws/src/ORB_Segmentation/src/orb_segmentation.cpp:332:11: error: ‘struct cv::Ptr<cv::ORB>’ has no member named ‘compute’
   orb_obj.compute(img_2,keypoints_seg_2,descriptors_seg_2);

问题三： 

zml@zml:~/dev/catkin_ws/src/ORB_Segmentation/build$ make
make[2]: *** No rule to make target '/home/zml/caffe-segnet/caffe-segnet-cudnn5/build/lib/libproto.a', needed by '../bin/orb_segmentation'。 停止。
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/orb_segmentation.dir/all' failed
make[1]: *** [CMakeFiles/orb_segmentation.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 

 解决：

因为自己当时安装caffe-segnet时，用的是make all命令，所以没有产生libproto.a文件。所以，用cmake；make命令就可以产生文件。